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Computer Science > Robotics

arXiv:1807.08432 (cs)
[Submitted on 23 Jul 2018 (v1), last revised 28 Oct 2018 (this version, v2)]

Title:Technical Report: Reactive Navigation in Partially Known Non-Convex Environments

Authors:Vasileios Vasilopoulos, Daniel E. Koditschek
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Abstract:This paper presents a provably correct method for robot navigation in 2D environments cluttered with familiar but unexpected non-convex, star-shaped obstacles as well as completely unknown, convex obstacles. We presuppose a limited range onboard sensor, capable of recognizing, localizing and (leveraging ideas from constructive solid geometry) generating online from its catalogue of the familiar, non-convex shapes an implicit representation of each one. These representations underlie an online change of coordinates to a completely convex model planning space wherein a previously developed online construction yields a provably correct reactive controller that is pulled back to the physically sensed representation to generate the actual robot commands. We extend the construction to differential drive robots, and suggest the empirical utility of the proposed control architecture using both formal proofs and numerical simulations.
Comments: Technical Report accompanying the paper "Reactive Navigation in Partially Known Non-Convex Environments" at WAFR 2018, 27 pages, 5 figures
Subjects: Robotics (cs.RO)
Cite as: arXiv:1807.08432 [cs.RO]
  (or arXiv:1807.08432v2 [cs.RO] for this version)
  https://doi.org/10.48550/arXiv.1807.08432

Submission history

From: Vasileios Vasilopoulos [view email]
[v1] Mon, 23 Jul 2018 05:33:57 UTC (3,980 KB)
[v2] Sun, 28 Oct 2018 08:09:55 UTC (4,698 KB)
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